Manufacturing vacuum tool with selective activation of pickup zones

ABSTRACT

Systems, methods, and apparatus for a vacuum tool having a switchable plate, such that a common vacuum tool may be adapted with different plates. A switchable plate may form the entirety of the vacuum tool&#39;s material contacting surface or a switchable plate may form a portion of the material contacting surface. The vacuum tool is effective for picking and placing one or more manufacturing parts utilizing a vacuum force.

CROSS-REFERENCE TO RELATED APPLICATIONS AND CLAIM OF PRIORITY

This application is a continuation of co-pending U.S. patent applicationSer. No. 15/220,063, filed Jul. 26, 2016, titled “Manufacturing VacuumTool with Selective Activation of Pickup Zones,” which is a continuationof U.S. patent application Ser. No. 14/978,253, filed Dec. 22, 2015,titled “MANUFACTURING VACUUM TOOL,” which is a continuation of U.S.patent application Ser. No. 14/661,565, filed Mar. 18, 2015, titled“SWITCHABLE PLATE MANUFACTURING VACUUM TOOL,” which is a continuation ofU.S. patent application Ser. No. 13/421,525, filed Mar. 15, 2012, titled“SWITCHABLE PLATE MANUFACTURING VACUUM TOOL,” which is acontinuation-in-part of U.S. patent application Ser. No. 13/299,934,filed Nov. 18, 2011, titled “MANUFACTURING VACUUM TOOL.” Thisapplication is also related by subject matter to (1) U.S. patentapplication Ser. No. 13/299,908, filed Nov. 18, 2011, titled“MULTI-FUNCTIONAL MANUFACTURING TOOL” and (2) U.S. patent applicationSer. No. 13/421,521, titled “ZONED ACTIVATION MANUFACTURING VACUUMTOOL.” Each of the above-referenced applications is incorporated hereinby reference in the entirety.

BACKGROUND

Traditionally, parts used in manufacturing a product are picked up andplaced in a position for manufacturing by human hand or robotic means.However, current robotic means have not provided a level of control,dexterity, and effectiveness to be cost-effectively implemented in somemanufacturing systems.

SUMMARY

Aspects of the present invention relate to systems, methods, andapparatus for a vacuum tool having a switchable plate, such that acommon vacuum tool may be adapted with different plates. A switchableplate may form the entirety of the vacuum tool's material contactingsurface or a switchable plate may form a portion of the materialcontacting surface. The vacuum tool is effective for picking and placingone or more manufacturing parts utilizing a vacuum force.

This Summary is provided to introduce a selection of concepts in asimplified form that are further described below in the DetailedDescription. This Summary is not intended to identify key features oressential features of the claimed subject matter, nor is it intended tobe used as an aid in determining the scope of the claimed subjectmatter.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

Illustrative embodiments of the present invention are described indetail below with reference to the attached drawing figures, which areincorporated by reference herein and wherein:

FIG. 1 depicts a top-down view of an exemplary vacuum tool, inaccordance with embodiments of the present invention;

FIG. 2 depicts a front-to-back perspective cut view along a cut linethat is parallel to cutline 3-3 of the vacuum tool in FIG. 1, inaccordance with aspects of the present invention;

FIG. 3 depicts a front-to-back view of the vacuum tool along the cutline3-3 of FIG. 1, in accordance with aspects of the present invention;

FIG. 4 depicts a focused view of the vacuum generator as cut along thecutline 3-3 from FIG. 1, in accordance with aspects of the presentinvention;

FIG. 5 depicts an exemplary plate comprised of the plurality ofapertures, in accordance with aspects of the present invention;

FIGS. 6-15 depict various aperture variations in a plate, in accordancewith aspects of the present invention;

FIG. 16 depicts an exploded view of a manufacturing tool comprised of avacuum tool utilizing a multi-portion plate and an ultrasonic welder, inaccordance with aspects of the present invention;

FIG. 17 depicts a cut view of a vacuum tool having a switchable plateutilizing a tongue and groove maintaining mechanism, in accordance withaspects of the present invention;

FIG. 18 depicts a cut view of a vacuum tool having a switchable plateutilizing a recessed maintaining mechanism, in accordance with aspectsof the present invention;

FIG. 19 depicts a cut view of a vacuum tool having a switchable plateutilizing an adhesion maintaining mechanism, in accordance with aspectsof the present invention;

FIG. 20 depicts a cut view of a vacuum tool having a switchable plateutilizing a coupling maintaining mechanism, in accordance with exemplaryaspects of the present invention; and

FIG. 21 depicts a bottom view of an exemplary plate comprised of fourplate portions having different aperture configurations, in accordancewith aspects of the present invention.

DETAILED DESCRIPTION

The subject matter of embodiments of the present invention is describedwith specificity herein to meet statutory requirements. However, thedescription itself is not intended to limit the scope of this patent.Rather, the inventors have contemplated that the claimed subject mattermight also be embodied in other ways, to include different elements orcombinations of elements similar to the ones described in this document,in conjunction with other present or future technologies.

Aspects of the present invention relate to systems, methods, andapparatus for a vacuum tool having a switchable plate, such that acommon vacuum tool may be adapted with different plates. A switchableplate may form the entirety of the vacuum tool's material contactingsurface or a switchable plate may form a portion of the materialcontacting surface. The vacuum tool is effective for picking and placingone or more manufacturing parts utilizing a vacuum force.

Accordingly, in one aspect, the present invention provides a vacuum toolcomprised of a switchable plate that serves as a material contactingsurface. The vacuum tool is comprised of a vacuum distributor. Thevacuum distributor is comprised of an exterior top surface, an interiortop surface, an exterior side surface, and an interior side surface. Thevacuum tool is further comprised of a vacuum aperture extending throughthe exterior top surface and the interior top surface of the vacuumdistributor. The vacuum tool is additionally comprised of a vacuumdistribution cavity. The vacuum distribution cavity is formed, at leastin part, by the interior top surface and the interior side surface,wherein an obtuse angle is formed between the interior top surface andthe interior side surface. The vacuum tool is further comprised of aswitchable plate. The plate is comprised of an interior plate surfaceand an exterior plate surface. A plurality of apertures extends throughthe interior plate surface and the exterior plate surface. Theswitchable plate is removably coupled to the vacuum distributorenclosing the vacuum distribution cavity within the vacuum distributorand the switchable plate.

In another aspect, the present invention provides another vacuum tool.The vacuum tool is comprised of a plurality of vacuum distributors. Eachvacuum distributor is coupled to at least one other vacuum distributor.The vacuum tool is further comprised of a plurality of discrete vacuumdistribution cavities. Each of the vacuum distributors forms, at leastin part, an associated vacuum distribution cavity. The vacuum toolfurther comprises a vacuum plate having a plurality of apertures. Thevacuum plate is removably coupled to one or more the vacuumdistributors. The plate and the vacuum distributors enclose the vacuumdistribution cavities.

A third aspect of the present invention provides a method ofmanufacturing utilizing a vacuum tool comprised of a removably coupledplate. The method is comprised of removing a first plate from the vacuumtool. The first plate has a first configuration of apertures, such assize, size, and/or location of one or more apertures. The method isfurther comprised of removably coupling a second plate having a secondconfiguration of a plurality of apertures to the vacuum tool. The secondconfiguration is different from the first configuration.

Having briefly described an overview of embodiments of the presentinvention, a more detailed description follows.

FIG. 1 depicts a top-down view of an exemplary vacuum tool 100, inaccordance with embodiments of the present invention. In variousaspects, the vacuum tool 100 may also be referred to as a vacuum-poweredpart holder. For example, the vacuum tool 100 may be useable in anautomated (or partially automated) manufacturing process for themovement, positioning, and/or maintaining of one or more parts. Theparts manipulated by the vacuum tool 100 may be rigid, malleable, or anycombination of characteristics (e.g., porous, non-porous). In anexemplary aspect, the vacuum tool 100 is functional for picking andplacing a part constructed, at least in part, of leather, polymers(e.g., PU, TPU), textiles, rubber, foam, mesh, and/or the like.

The material to be manipulated by a vacuum tool may be of any type. Forexample, it is contemplated that a vacuum tool described herein isadapted for manipulating (e.g., picking and placing) flat, thin, and/orlightweight parts of various shapes, materials, and other physicalcharacteristics (e.g. pattern cut textiles, non-woven materials, mesh,plastic sheeting material, foams, rubber). Therefore, unlikeindustrial-scaled vacuum tools functional for manipulating a heavy,rigid, or non-porous material, the vacuum tools provided herein are ableto effectively manipulate a variety of materials (e.g., light, porous,flexible).

The vacuum tool 100 is comprised of a vacuum generator 102. The vacuumgenerator generates a vacuum force (e.g., low pressure gradient relativeto ambient conditions). For example, the vacuum generator may utilizetraditional vacuum pumps operated by a motor (or engine). The vacuumgenerator may also utilize a venturi pump to generate a vacuum. Furtheryet, it is contemplated that an air amplifier, which is also referred toas a coand{hacek over (a)} effect pump, is also utilized to generate avacuum force. Both the venturi pump and the coand{hacek over (a)} effectpump operate on varied principles of converting a pressurized gas into avacuum force effective for maintaining a suction action. While thefollowing disclosure will focus on the venturi pump and/or thecoand{hacek over (a)} effect pump, it is contemplated that the vacuumgenerator may also be a mechanical vacuum that is either local or remote(coupled by way of tubing, piping, and the like) to the vacuum tool 100.

The vacuum tool 100 of FIG. 1 is also comprised of a vacuum distributor110. The vacuum distributor 110 distributes a vacuum force generated bythe vacuum generator 102 across a defined surface area. For example, amaterial to be manipulated by the vacuum tool 100 may be a flexiblematerial of several square inches in surface area (e.g., a leatherportion for a shoe upper). As a result of the material being at leastsemi-flexible, the vacuum force used to pick up the part may beadvantageously dispersed across a substantial area of the part. Forexample, rather than focusing a suction effect on a limited surface areaof a flexible part, which may result in bending or creasing of the partonce support underneath of the part is removed (e.g., when the part islifted), dispersing the suction effect across a greater area may inhibitan undesired bending or creasing of the part. Further, it iscontemplated that a concentrated vacuum (non-dispersed vacuum force) maydamage a part once a sufficient vacuum is applied. Therefore, in anaspect of the present invention, the vacuum force generated by thevacuum generator 102 is distributed across a larger potential surfacearea by way of the vacuum distributor 110.

In an exemplary aspect, the vacuum distributor 110 is formed from asemi-rigid to rigid material, such as metal (e.g., aluminum) orpolymers. However, other materials are contemplated. The vacuum tool 100is contemplated as being manipulated (e.g. moved/positioned) by a robot,such as a multi-axis programmable robot. As such, limitations of a robotmay be taken into consideration for the vacuum tool 100. For example,weight of the vacuum tool 100 (and/or a manufacturing tool 10 to bediscussed hereinafter) may be desired to be limited in order to limitthe potential size and/or costs associated with a manipulating robot.Utilizing weight as a limiting factor, it may be advantageous to formthe vacuum distributor in a particular manner to reduce weight whilestill achieving a desired distribution of the vacuum force.

Other consideration may be evaluated in the design and implementation ofthe vacuum tool 100. For example, a desired level of rigidity of thevacuum tool 100 may result in reinforcement portions and materialremoved portions, as will be discussed with respect to FIG. 17hereinafter, being incorporated into the vacuum tool 100.

The vacuum distributor 110 is comprised of an exterior top surface 112and an exterior side surface 116. FIG. 1 depicts a vacuum distributorwith a substantially rectangular footprint. However, it is contemplatedthat any footprint may be utilized. For example, a non-circularfootprint may be utilized. A non-circular footprint, in an exemplaryaspect, may be advantageous as providing a larger useable surface areafor manipulating a variety of part geometries. Therefore, the use of anon-circular footprint may allow for a greater percentage of thefootprint to be in contact with a manipulated part as compared to acircular footprint. Also with respect to shape of a vacuum tool 100beyond the footprint, it is contemplated, as will be discussedhereinafter, that any three-dimensional geometry may be implemented forthe vacuum distributor 110. For example, an egg-like geometry, apyramid-like geometry, a cubical-like geometry, and the like may beutilized. In an exemplary aspect, a rectangular footprint may provide aneasier geometry than a non-rectangular footprint for referencing alocation of a part relative to the footprint.

The exemplary vacuum distributor 110 of FIG. 1 is comprised of theexterior top surface 112 and a plurality of exterior side surfaces 116.The vacuum distributor 110 also terminates at edges resulting in a firstside edge 128, a second parallel side edge 130, a front edge 132, and anopposite parallel back edge 134.

FIG. 1 depicts a cutline 3-3 demarking a parallel view perspective forFIG. 2. FIG. 2 depicts a front-to-back perspective cut view that isparallel along cutline 3-3 of the vacuum tool 100, in accordance withaspects of the present invention. FIG. 2 depicts, among other features,a vacuum distribution cavity 140 and a vacuum plate 150 (also sometimesreferred to as the “plate” herein). The vacuum distributor 110 and theplate 150, in combination, define a volume of space forming the vacuumdistribution cavity 140. The vacuum distribution cavity 140 is a volumeof space that allows for the unobstructed flow of gas to allow for anequalized dispersion of a vacuum force. In an exemplary aspect, the flowof gas (e.g., air) from the plate 150 to the vacuum generator 102 isfocused through the utilization of angled interior side surface(s) 118.As depicted in FIG. 2, there are four primary interior side surfaces118, a first interior side surface, a second interior side surface 122,a third interior side surface 124, and a fourth interior side surface.However, it is contemplated that other geometries may be utilized.

The interior side surfaces 118 extend from the interior top surface 114toward the plate 150. In an exemplary aspect, an obtuse angle 142 isformed between the interior top surface and the interior side surfaces118. The obtuse angle provides an air vacuum distribution effect thatreduces internal turbulence of air as it passes from the plate 150toward a vacuum aperture 138 serving the vacuum generator 102. Byangling the approach of air as it enters the vacuum aperture 138, areduced amount of material may be utilized with the vacuum distributor110 (e.g., resulting in a potential reduction in weight) and the flow ofair may be controlled through a reduction in air turbulence. However,aspects contemplate a right angle such as that formed by a cube-likestructure, a cylinder-like structure and the like.

An angle 144 may also be defined by the intersection of the interiorside surfaces 118 and the plate 150. For example, if the angle 142 isobtuse, the angle 144 is acute. Again, having an acute angle 144 mayprovide advantages with the flow of air and the ability to reduce/limitweight of the vacuum tool 100 in general.

A surface area of the interior top surface 114 may be less than asurface area of the exterior plate surface 158 when an obtuse angle isutilized between the top surface 114 and one or more interior sidesurfaces 118. This potential discrepancy in surface area serves as afunneling geometry to further reduce turbulence and effectively dispersea vacuum force.

In an exemplary aspect, the interior side surfaces 118 are in a parallelrelationship with an associated exterior side surface 116. Similarly, inan exemplary aspect the interior top surface 114 is in a parallelrelationship, at least in part, with the exterior top surface 112.However, it is contemplated that one or more of the surfaces are not ina parallel relationship with an associated opposite surface. Forexample, if one or more of the interior surfaces are curved in one ormore directions, the exterior surface may instead maintain a linearrelationship that is, at the most, tangential to the interior surfaces.Similarly, it is contemplated that the interior and exterior surfacesmay maintain a parallel (either linear or curved) relationship in partor in whole.

The vacuum aperture 138 may include a series of threads allowing thevacuum generator 102 to be screwed and secured to the vacuumdistribution cavity. Similarly, it is contemplated that other matingpatterns (e.g., tapering) may be formed on the interior surface of thevacuum aperture 138 and the vacuum generator 102 to secure the vacuumgenerator 102 and the vacuum distributor 110 together with a air-tightbond.

The plate 150, which will be discussed in greater detail in FIGS. 5-15hereinafter, has an interior plate surface 152 (i.e., top surface) andan opposite exterior plate surface 158 (i.e., bottom surface). The plate150 may be a sheet-like structure, panel-like structure, and/or thelike. The exterior plate surface 158 is adapted for contacting a part tobe manipulated by the vacuum tool 100. For example, the plate 150 ingeneral, or the exterior plate surface 158 in particular, may be formedfrom a non-marring material. For example, aluminum or a polymer may beused to form the plate 150 in whole or in part. Further, it iscontemplated that the plate 150 is a semi-rigid or rigid structure toresist forces exerted on it from the vacuum generated by the vacuumgenerator 102. Therefore, the plate 150 may be formed of a materialhaving a sufficient thickness to resist deforming under pressurescreated by the vacuum generator 102. Further, it is contemplated thatthe plate 150 and/or the vacuum distributor 110 are formed from anon-compressible material. Further, it is contemplated that the vacuumtool 100 does not form to the contours of a part being manipulated aswould a suction-cup like device. Instead, the semi-rigid to rigidmaterial maintain a consistent form regardless of being in contact witha manipulated part or not.

However, it is also contemplated that the plate is formed from amesh-like material that may be rigid, semi-rigid, or flexible. Themesh-like material may be formed by interlaced material strands madefrom metal, textile, polymers, and/or the like. Further, it iscontemplated that the plate may also be comprised of multiple materials.For example, the plate may be formed from a base structural material(e.g., polymer, metal) and a second part-contacting material (e.g.,polymer, foam, textile, and mesh). The multiple-material concept mayallow for the plate to realize advantages of the multiple materialsselected.

The plate 150, in an exemplary aspect, is coupled, either permanently ortemporarily, to the vacuum distributor 110. For example, it iscontemplated that the plate 150 may be removable/replaceable to allowfor adaptability to different materials and specifications. Continuingwith this example, and as will be discussed with reference to FIGS.5-14, various aperture sizes, shapes, and spacing may be used dependingon the material to be manipulated (e.g., porous materials, non-porousmaterials, large materials, small materials, dense materials, lightmaterials). If the plate 150 is removable (i.e., temporarily coupled), afastening mechanism may be used (e.g., adhesive, hardware, clamps,channels, and the like) to ensure a tight bond between the plate 150 andthe vacuum distributor 110. If the plate 150 is permanently coupled tothe vacuum distributor 110, then known techniques may be used (e.g.,welding, bonding, adhesives, mechanical fasteners, and the like).

When used in combination, the vacuum generator 102, the vacuumdistributor 110, and the plate 150, the vacuum tool 100 is functional togenerate a suction force that draws a material towards the exteriorplate surface 158 (also referred to as a manufacturing-part-contactingsurface) where the material is maintained against the plate 150 untilthe force applied to the material is less than a force repelling (e.g.,gravity, vacuum) the material from the pate 150. In use, the vacuum toolis therefore able to approach a part, generate a vacuum force capable oftemporarily maintaining the part in contact with the plate 150, move thevacuum tool 100 and the part to a new location, and then allow the partto release from the vacuum tool 100 at the new position (e.g., at a newlocation, in contact with a new material, at a new manufacturingprocess, and the like).

In an exemplary aspect, the plate 150 (or in particular the exteriorplate surface 158) has a surface area that is larger than amaterial/part to be manipulated. Further, it is contemplated that one ormore apertures extending through the plate 150 are covered by a part tobe manipulated. Stated differently, it is contemplated that a surfacearea defined by one or more apertures extending through the plate 150exceeds a surface area of a part to be manipulated. Additionally, it iscontemplated that a geometry defined by two or more apertures extendingthrough the plate 150 results in one or more apertures not contacting(completely or partially) a material/part to be manipulated. As aresult, it is contemplated that inefficiency in vacuum force isexperienced by the vacuum tool as a result of unusable apertures.However, in an exemplary aspect, the inclusion of unusable apertures isan intended result to allow for a higher degree of latitude inpositioning the vacuum tool relative to the part. Further, theintentional inclusion of unusable (unusable for purposes of a particularpart to be manipulated (e.g., active vacuum apertures that areineffective for contacting a portion of the part)) apertures allows forvacuum force leakage while still effectively manipulating a part. In anexemplary aspect, a plurality of apertures extending through a plate 150is further comprised of one or more leaking apertures, an aperture notintended to be used in the manipulation of a part.

In an exemplary aspect, it is contemplated that a vacuum tool, such asthe vacuum tool 100, is capable of generating a suction force up to 200grams. Further, it is contemplated that the pickup tool 100 may have 60grams to 120 grams of vacuum (i.e., suction) force. In an exemplaryaspect, the pickup tool 100 operates with about 90 grams of vacuumforce. However, it is contemplated that changes in one or moreconfigurations (e.g., vacuum generator, plate, apertures), material ofpart being manipulated (e.g., flexibility, porosity), and percent ofapertures covered by the part may all affect a vacuum force of anexemplary pickup tool. Further, it is contemplated that when multipledistributors are used in conjunction the vacuum force is adjustedcommensurately. For example, the pickup tool of FIG. 16 (to be discussedhereinafter) has ten vacuum distributors and may therefore have a vacuumforce of about 600 grams to about 1.2 kilograms (10×60 to 120 grams).Similarly, a pickup tool having 6 vacuum distributors may have a suctionforce of about 540 grams (6×90 grams). However, it is contemplated thatair pressure/volume supplied to the vacuum generators is not affected bya plurality of generators operating simultaneously. If an air pressureor value is reduced (or otherwise altered) it is contemplated that aresulting cumulative vacuum force is also altered.

FIG. 3 depicts a front-to-back view of the vacuum tool 100 along thecutline 3-3 of FIG. 1, in accordance with aspects of the presentinvention. In particular, FIG. 3 provides a cut view of the vacuumgenerator 102. As will be discussed in greater detail with respect toFIG. 4, the vacuum generator 102, in the exemplary aspect, is an airamplifier utilizing a coand{hacek over (a)} effect to generate a vacuumforce.

In this example, air is drawn from the exterior plate surface 158through a plurality of apertures 160 through the plate 150 to the vacuumdistribution cavity 140. The vacuum distribution cavity 140 is enclosedbetween the vacuum distributor 110 and the plate 150, such that if theplate 150 is a non-porous (i.e., lacked the plurality of apertures 160)surface, then an area of low pressure would be generated in the vacuumdistribution cavity 140 when the vacuum generator 102 is activated.However, returning to the example including the plurality of aperture160, the air is drawn into the vacuum distribution cavity 140 towardsthe vacuum aperture 138, which then allows the air to be drawn into thevacuum generator 102.

FIG. 3 identifies a zoomed view of the vacuum generator 102 depicted inFIG. 4. FIG. 4 depicts a focused view of the vacuum generator 102 as cutalong the cutline 3-3 from FIG. 1, in accordance with aspects of thepresent invention. The vacuum generator depicted in FIG. 4 is acoand{hacek over (a)} effect (i.e., air amplifier) vacuum pump 106. Thecoand{hacek over (a)} effect vacuum pump injects pressurized air at aninlet 103. The inlet 103 directs the pressurized air through an internalchamber 302 to a sidewall flange 304. The pressurized air, utilizing thecoand{hacek over (a)} effect, curves around the sidewall flange 304 andflows along an internal sidewall 306. As a result of the pressurized airmovement, a vacuum force is generated in the same direction as the flowof the pressurized air along the internal sidewall 306. Consequently, adirection of suction extends up through the vacuum aperture 138.

FIG. 5 depicts an exemplary plate 150 comprised of the plurality ofapertures 160, in accordance with aspects of the present invention.While the plate 150 is illustrated as having a rectangular footprint, aspreviously discussed, it is contemplated that any geometry may beimplemented (e.g., circular, non-circular) depending, in part, on thematerial to be manipulated, a robot controlling the vacuum tool 100,and/or components of the vacuum tool 100. Further, it is contemplatedthat in exemplary aspects a first plate may be substituted for a secondplate on the vacuum tool. For example, rather than switching out anentire vacuum tool as a result of a change in material, parts, etc., theplate 150 may instead be changed on a particular vacuum tool to providealternative characteristics to the vacuum tool (e.g., a first plate mayhave a few large apertures and a second plate may have many smallapertures).

The plurality of apertures 160 may be defined, at least in part, by ageometry (e.g., circular, hatch, bulbous, rectangular), size (e.g.,diameter, radius, area, length, width), offset from elements (e.g.,distance from outer edge, distance from a non-porous portion), and pitch(e.g., distance between apertures). The pitch of two apertures isdefined as a distance from a first aperture to a second aperture. Thepitch may be measured in a variety of manners. For example, the pitchmay be measured from the closest two points of two apertures, from thesurface area center of two apertures (e.g., center of circularapertures), from a particular feature of two apertures.

The size of the apertures may be defined based on an amount of surfacearea (or a variable to calculate surface area) exposed by each aperture.For example, a diameter measurement provides an indication of a circularaperture's size.

Depending on desired characteristics of a vacuum tool, the variablesassociated with the apertures may be adjusted. For example, a non-porousmaterial of low density may not require much vacuum force to maintainthe material in contact with the vacuum tool under normal operatingconditions. However, a large porous mesh material may, on the otherhand, require a significant amount of vacuum force to maintain thematerial against the vacuum tool under normal operating conditions.Therefore, to limit the amount of energy placed into the system (e.g.,amount of pressurized air to operate a coand{hacek over (a)} effectvacuum pump, electricity to operate a mechanical vacuum pump) anoptimization of the apertures may be implemented.

For example, a variable that may be sufficient for typical materialshandled in a footwear, apparel, and the like industry may include, butnot be limited to, apertures having a diameter between 0.5 and 5millimeters (mm), between 1 mm and 4 mm, between 1 mm and 3 mm, 1.5 mm,2 mm, 2.5 mm, 3 mm, and the like. However, larger and smaller diameter(or comparable surface area) apertures are contemplated. Similarly, thepitch may range between 1 mm and 8 mm, between 2 mm and 6 mm, between 2mm and 5 mm, 3 mm, 3.5 mm, 4 mm, 4.5 mm, 5 mm, 5.5 mm, 6 mm, and thelike. However, larger and smaller pitch measurements are contemplated.

Additionally, it is contemplated that a variable size and a variablepitch may be implemented in aspects of the present invention. Forexample, a compound part composed of both a porous material portion anda non-porous material portion may utilize different variables toaccomplish the same level of manipulation. In this example, variablesthat lead to a reduction in necessary vacuum force in an area to becontacted by the non-porous material and variable that lead to highervacuum forces in an area to be contacted by the porous material may beimplemented. Further, a vision system or other identification system maybe used in conjunction to further ensure a proper placement of thematerial with respect to the plurality of apertures occurs.Additionally, it is contemplated that a relationship between pitch andsize may be utilized to locate the plurality of apertures. For example,a pitch from a larger sized aperture may be greater than a pitch from asmaller sized aperture (or vice versa).

An additional variable is the offset. In an exemplary aspect, the offsetis a distance of an aperture from an outside edge of the plate 150.Different apertures may have different offsets. Further different edgesmay implement different offsets. For example an offset along a frontedge may be different from an offset along a side edge. The offset mayrange from no offset to 8 mm (or more). In practice, an offset rangingfrom 1 mm to 5 mm may accomplish characteristics of exemplary aspects ofthe present invention.

The plurality of apertures 160 may be formed in the plate 150 utilizinga number of manufacturing techniques. For example apertures may bepunched, drilled, etched, carved, melted, and/or cut from the plate 150.In an exemplary embodiment, the plate 150 is formed from a material thatis responsive to laser cutting. For example polymer-based materials andsome metal-based materials may be used in conjunction with laser cuttingof the plurality of apertures. Further, it is contemplated that thegeometry of the apertures may be variable as the aperture extendsthrough the thickness of the plate. For example, the aperture may have adiameter of a first size on a top surface of the plate and a diameter ofa second size at the opposite bottom surface of the plate. This variablein geometry mat result in a conical geometry extending through theplate. Additional geometries are contemplated herein (e.g., pyramid).

FIGS. 6-15 provide exemplary aperture variable selections similar tothat discussed with respect to FIG. 5, in accordance with aspects of thepresent invention. The following examples are not intended to belimiting, but instead exemplary in nature. FIG. 6 depicts non-circularapertures having a first offset of 5 mm and a second offset of 8 mm anda pitch of 7 mm. FIG. 7 depicts circular apertures having an offset andpitch of 5 mm with a diameter of 2 mm. FIG. 8 depicts circular apertureshaving a diameter of 1 mm, a pitch of 2 mm, and offsets of 4 mm and 5mm. FIG. 9 depicts circular apertures having a diameter of 2 mm, a pitchof 4 mm, and offsets of 5 mm and 4 mm. FIG. 10 depicts exemplarygeometric apertures having a pitch of 4 mm and offsets of 5 mm. FIG. 11depicts circular apertures having a diameter of 1 mm, a pitch of 4 mm,and offsets of 5 mm and 4 mm. FIG. 12 depicts circular apertures havinga diameter of 1 mm, a pitch of 5 mm, and offsets of 5 mm. FIG. 13depicts circular apertures having a diameter of 1.5 mm, a pitch of 4 mm,and offsets of 5 mm and 4 mm. FIG. 14 depicts circular apertures havinga diameter of 1.5 mm, a pitch of 3 mm, and offsets of 4 mm. FIG. 15depicts circular apertures having a diameter of 2 mm, a pitch of 3 mm,and offsets of 5 mm and 4 mm. As previously discussed, it iscontemplated that shape, size, pitch, and offset may be altereduniformly or variably in any combination to achieve a desired result.

Depending on the footprint of the plate 150, the offset, the pitch, thegeometry of the apertures, the layout of the apertures, and the size ofthe apertures, any number of apertures may be utilized. For example, itis contemplated that the plate 150 of FIG. 16 may have 11,000 to 11,500apertures. In a particular aspect, it is contemplated around 11,275apertures are utilized on the plate 150 of FIG. 16. Further, a plate maybe comprised of 4,500 to 4,750 apertures. In particular, it iscontemplated that 4,700 apertures may be included in an exemplary plate.

Changes to the vacuum generator 102, the plate 150, and the overall sizeof the vacuum tool 100 may affect the air consumption and pressure whenutilizing a coand{hacek over (a)} effect vacuum pump or a venturi vacuumpump For example, it is contemplated that a given coand{hacek over (a)}effect vacuum pump may generate 50 g/cm² of vacuum force. To accomplishthis level of vacuum, it is contemplated that a pneumatic pressure of0.55 to 0.65 MPa of pressure are introduced to the vacuum tool. Thevolume of air consumption to generate sufficient vacuum may also varybased on the variables. For example, it is contemplated that 1,400Nl/min of air consumption may be utilized for the vacuum tool 100 ofFIG. 16. Further, it is contemplated that 840 Nl/min of air consumptionmay be utilized for a vacuum tool. Further, it is contemplated that 360Nl/min of air consumption may be utilized for a vacuum tool. Aspreviously discussed, the footprint (e.g., surface area of the plate150) may also affect vacuum force, air consumption, and the like. Forexample, it is contemplated that a plate may have a footprintapproximately of 625 mm by 340 mm. Similarly, it is contemplated that aplate may have a footprint approximately of 380 mm by 240 mm. Clearly,it is contemplated that the proportions of a vacuum distributor may bealtered based on a desired level of vacuum force, footprint, andadditional variables.

FIG. 16 depicts an exploded view of a manufacturing tool 10 comprised ofa vacuum tool 100 utilizing a multi-portion plate 400 and an ultrasonicwelder 200, in accordance with aspects of the present invention. Unlikethe vacuum tool 100 discussed with respect to FIGS. 1 and 2, the vacuumtool 100 of FIG. 16 incorporates a plurality of vacuum generators 102,vacuum distributors 110, and vacuum distribution cavities 140 into aunified vacuum tool 100 having the multi-portion plate 400. As will bediscussed hereinafter, advantages may be realized by the ability toselectively activate/deactivate vacuum force in individual portions ofthe vacuum tool 100. Additionally, a greater control of continuousvacuum force may be achieved by having segregated portions of the vacuumtool 100. Further, it is contemplated that a first portion of the vacuumplate 400 may have a different aperture pattern (e.g., size, pitch,offset, shape, etc.) than a second portion. Further, it is contemplatedthat one or more portions of the multi-portion plate 400 may be removedand replaced with alternative plate portions having differentcharacteristics (e.g., aperture pattern).

The manufacturing tool 10 also is comprised of a coupling member 300.The coupling member 300 is a feature of the manufacturing tool 10 (orthe vacuum tool 100 or the ultrasonic welder 200 individually) allowinga positional member (not shown) to manipulate the position, attitude,and/or orientation of the manufacturing tool 10. For example, thecoupling member 300 may allow for the addition of the manufacturing toolto a computer-numerically-controlled (CNC) robot that has a series ofinstruction embodied on a non-transitory computer-readable medium, thatwhen executed by a processor and memory, cause the CNC robot to performa series of steps. For example, the CNC robot may control the vacuumgenerator(s) 102, the ultrasonic welder 200, and/or the position towhich the manufacturing tool 10 is located. The coupling member 300 may,therefore, allow for the temporary or permanent coupling of themanufacturing tool 10 to a positional member, such as a CNC robot.

As was previously discussed, aspects of the present invention may formportions of the manufacturing tool 10 with the intention of minimizingmass. As such, the plurality of vacuum distributors 110 of FIG. 16include reduced material portions 113. The reduced material portions 113eliminate portions of what could otherwise be a uniform exterior topsurface. The introduction of reduced material portions 113 reducesweight of the manufacturing tool 10 to allow for a potentially smallerpositional member 310 to be utilized, which may save on space and costs.Additional locations for reduced material portions 113 are contemplatedabout the vacuum tool 100 (e.g., side, bottom, top).

However, aspects of the present invention may desire to remain a levelof rigidity of the plurality of vacuum distributors 110 as supported bya single coupling member 300. To maintain a level of rigidity whilestill introducing the reduced material portions 113, reinforcementportions 115 may also be introduced. For example, reinforcement portions115 may extend from one vacuum distributor 110 to another vacuumdistributor 110. Further yet, it is contemplated that in aspects of thepresent invention, reinforcement portions 115 may be included proximatethe coupling member 300 for a similar rationale.

The plate 400 is separated from the plurality of vacuum distributors 110in FIG. 16 for illustrative purposes. As a result, an interior platesurface 402 is viewable. In an exemplary aspect, the interior platesurface 402 is mated with a bottom portion of the plurality of vacuumdistributors 110, forming an air-tight bond in this example.

The plate 400 may be comprised of a plurality of plate portions. Forexample, the plate 400 of FIG. 16 is comprised of eight plate portions(e.g., plate portions 420, 422, 424, 426, 428, and 430). Each plateportion may be associated with a unique distribution cavity and/or aunique distributor, in an exemplary aspect. In the alternative, multipleplate portions may be utilized in connection with a common distributorand/or distribution cavity. In yet another alternative, an individualplate portion may be associated with a plurality of distributors

The plate 400 is contemplated as being removably coupled with one ormore distributors or other portions of a vacuum tool. A plate isremovably coupled when a first plate (or plate portion) may be coupledwith the vacuum tool in a manner so that the plate may function for itsintended purpose, but yet be removed from the vacuum tool withoutsignificantly deforming or otherwise damaging the plate and/or thevacuum tool. Examples of maintaining mechanisms (e.g., bolts, screws,magnets, adhesives, mechanical interlocking, lacing, friction fit,clips, bands, pins, suction, and the like) that may be used to maintaina plate in a position relative to the vacuum tool will be discussed withrespect to FIGS. 17-20. However, additional means of removably couplinga plate and a vacuum tool are contemplated.

A junction may exist between plate portions. A junction is a meeting ofa first plate portion and a second plate portion. A junction mayrepresent a location at which a first plate portion may independently beswitched from the vacuum tool while not switching a second plateportion. Therefore, as will be discussed with respect to FIG. 21hereinafter, a variety of aperture patterns may be implemented andadjusted in a zone-like approach through the manipulation of individualplate portions.

A junction between the plates, such as a junction 421, defines ajunction between the plate portion 420 and 422. It is contemplated thata tongue and groove-like coupling mechanism may be implemented along ajunction to allow for the switchable coupling of the plate portions.Additional edge treatments are contemplated to provide a removablecoupling between the plate portions. Other junctions depicted include423, 425, 427, and 429. It is contemplated that a junction may extend ina linear path creating consistent-sized plate portions. Further it iscontemplated that a junction may be formed in an organic or non-linearfashion to provide a level of control over a location of one or moreplate portions relative to a material to be manipulated.

The vacuum tool 100 is comprised of a plurality of vacuum generators102, vacuum distributors 110, and associated vacuum distributioncavities 140. It is contemplated that any number of each may be utilizedin a vacuum tool 100. For example, it is contemplated that 10, 8, 6, 4,2, 1, or any number of units may be combined to form a cohesive vacuumtool 100. Further, any footprint may be formed. For example, while arectangular footprint is depicted in FIG. 16, it is contemplated that asquare, triangular, circular, non-circular, part-matching shape, or thelike may instead be implemented. Additionally, the size of the vacuumgenerator 102 and/or the vacuum distributor 110 may be varied (e.g.,non-uniform) in various aspects. For example, in an exemplary aspect,where a greater concentration of vacuum force is needed for a particularapplication, a smaller vacuum distributor may be utilized, and where aless concentrated vacuum force is needed, a larger vacuum distributormay be implemented.

FIG. 16 depicts exemplary manufacturing tools 10; however, it isunderstood that one or more components may be added or removed from eachaspect. For example, each aspect is comprised of an ultrasonic welder200 and a vacuum tool 100, but it is contemplated that the ultrasonicwelder may be eliminated altogether. Further, it is contemplated thatadditional features may also be incorporated. For example, visionsystems, adhesive applicators (e.g., spray, roll, and other applicationmethods), mechanical fastening components, pressure applicators, curingdevices (e.g., ultraviolet light, infrared light, heat applicators, andchemical applicators), and the like may also be incorporated in whole orin part in exemplary aspects.

The ultrasonic welder 200, in an exemplary aspect, is comprised of astack comprised of an ultrasonic welding horn 210 (may also be referredto as a sonotrode), a converter 220 (may also be referred to as apiezoelectric transducer), and a booster (not labeled). The ultrasonicwelder 200 may further be comprised of an electronic ultrasonicgenerator (may also be referred to as a power supply) and a controller.The electronic ultrasonic generator may be useable for delivering ahigh-powered alternating current signal with a frequency matching theresonance frequency of the stack (e.g., horn, converter, and booster).The controller controls the delivery of the ultrasonic energy from theultrasonic welder to one or more parts.

Within the stack, the converter converts the electrical signal receivedfrom the electronic ultrasonic generator into a mechanical vibration.The booster modifies the amplitude of the vibration from the converter.The ultrasonic welding horn applies the mechanical vibration to the oneor more parts to be welded. The ultrasonic welding horn is comprised ofa distal end 212 adapted for contacting a part.

FIG. 17 depicts an exemplary cut view of a vacuum tool 1700 having aswitchable plate 400 utilizing a tongue and groove maintainingmechanism, in accordance with aspects of the present invention. A vacuumdistributor 500 is depicted having a particular cross-sectionalgeometry; however, it is contemplated that any vacuum distributorgeometry may be implemented, as previously discussed. The vacuumdistributor 500 has a bottom surface 502 intended for contacting theplate 400 (or an intervening material, such as a sealant). The plate 400has a top surface 402 and a bottom surface 404. Additionally, the plate400 includes one or more apertures 160 extending between the top surface402 and the bottom surface 404. It is contemplated that the bottomsurface 502 of the vacuum distributor 500 may contact the top surface402 of the plate 400 when in use. However, as previously discussed, itis contemplated that one or more seal-like materials (e.g., gasket) maybe disposed between the bottom surface 502 and the top surface 402 tomaintain a tighter fit for effecting a better vacuum.

The vacuum distributor 500 of FIG. 17 is formed with a groove 504 alongone or more sides. In this example, the groove 504 is formed along twoparallel sides, but it is contemplated that one or more grooves (or analternative tongue) may instead be positioned at any place along thevacuum tool. The groove 504 provides a receiving channel through whichone or more portions of a maintaining mechanism may be inserted. In thisexample, the plate 400 is comprised of a tongue 432. The tongue 432 is acomponent of the plate 400 that is adapted to be inserted within thegroove 504. When inserted into the groove 504, the tongue 432 maintainsthe plate 400 in a desired orientation/position relative to the vacuumdistributor 500. However, the plate 400 is removably coupled to thevacuum distributor 500 by this maintaining mechanism so as to beswitchable.

When utilizing a tongue and groove-like maintaining mechanism, it iscontemplated that a first plate portion may be easily switched for asecond plate portion with minimal machine downtime. As a result, acommon vacuum distributor may be utilized when manipulating a variety ofdifferent materials. This may allow for a relatively inexpensive plateportion to be maintained in inventory to allow a relatively moreexpensive vacuum tool to be a more universal-like manufacturing tool.

While a particular combination of tongue and groove portions aredepicted, it is contemplated that a tongue may be formed on at least aportion of the vacuum distributor 500 and a groove may be formed on atleast a portion of the plate 400, in an exemplary aspect. Further, whilea sliding maintaining mechanism is depicted as engaging an outer surfaceof the vacuum distributor, it is also contemplated that a slidingmaintaining mechanism may also/alternatively engage an interior surfaceand/or a bottom surface. For example, a T-like protrusion may extendupwardly from the plate 400 top surface 402 to be received by a T-likegroove extending into the vacuum distributor 500 from the bottom surface502. Alternatively, the T-like protrusion may extend downwardly from thebottom surface 502 for reception by a T-like groove extending into theplate 400 from the top surface 402. Alternative shaped protrusion andreceiving channels are contemplated.

FIG. 18 depicts a cut view of a vacuum tool 1800 having a switchableplate 400 utilizing a recessed removable maintainer 602, in accordancewith aspects of the present invention. As discussed with respect to FIG.17, a vacuum distributor 500 having a bottom surface 502 is depicted.However, alternative geometric configurations are contemplated. Alsosimilar to FIG. 17, the plate 400 is comprised of a top surface 402 anda bottom surface 404. Additionally, a plurality of apertures extendsfrom the top surface 402 to the bottom surface 404.

The maintaining mechanism depicted in FIG. 18 utilizes a recessedremovable maintainer 602 (also referred to as a recessed maintainingmechanism herein). Examples of removable maintainers include, but arenot limited to, a screw, a bolt, a rivet, a dowel, a plug, and the like.The removable maintainer 602 may pass through a portion of the plate400, such as a recessed portion 434 before entering into a portion ofthe vacuum distributor, such as a reception portion 506. The recessedportion 434 may allow for a countersinking of one or more portions ofthe removable maintainer, such as a head. For example, if the removablemaintainer 602 is a bolt-like component that may utilize a larger headportion to impart a force onto the plate 400, the head portion may berecessed into a portion of the plate 400 to prevent disrupting the planeof the bottom surface 404. Maintaining a planar surface, withoutdisruption from a maintaining mechanism, may ensure the plate 400 isable to effectively maintain a vacuum force, when activated, on one ormore materials. The recessed portion 434 is also contemplated as aportion of an aperture through which a maintaining mechanism may passwithout having a significant difference from the remainder of theaperture, in an exemplary aspect.

It is contemplated that one or more removable maintainers 602 may beutilized in a variety of location. For example, while the removablemaintainer 602 is depicted as extending upwardly through the plate 400into the vacuum distributor 500, a removable maintainer may extenddownwardly through the vacuum distributor 500 into the plate 400.Further, it is contemplated that a removable maintainer may also beutilized in any orientation, such as extending horizontally to coupleone or more portions of the vacuum tool. Consequently, any number, type,and/or location of removable maintainer may be implemented to removablycouple a plate 400 with a vacuum distributor, directly or indirectly.

FIG. 19 depicts a cut view of a vacuum tool 1900 having a switchableplate 400 utilizing an adhesion maintaining mechanism 604, in accordancewith aspects of the present invention. As previously contemplated, thevacuum distributor 500 has a bottom surface 502. Also as contemplated,the plate 400 has a top surface 402 and a bottom surface 404. Further anumber of apertures 160 extend from the top surface 402 to the bottomsurface 404.

The adhesive maintaining mechanism 604 may be any type of bonding agent.For example, a caulk-like substance that is applied in a firstliquid-like state may be applied that provides an adhesive bond when ina second state between the plate 400 and the vacuum distributor 500 withan amount of force that allows for the removal of the plate 400 withoutdamaging or distorting the plate. It is contemplated that the level ofbonding required may be on the order of the weight of the plate plus amargin of error. For example, when a vacuum force is generated in aninternal cavity between the plate 400 and the vacuum distributor 500,the resulting negative pressure may aid in maintaining the position ofthe plate 400 relative to the vacuum distributor 500.

Other non-limiting examples of an adhesive maintaining mechanism mayinclude a magnetic material to which at least one of the plate 400 orthe vacuum distributor 500 may be attracted. For example, it iscontemplated that the plate may be formed from polymer-based materialinto which one or more ferrous components are embedded. A magneticmaterial coupled, either permanently or temporarily, to the vacuumdistributor 500 may attract the plate 400 to maintain a desiredposition. Other arrangements are contemplated, such as a magneticmaterial embedded within the plate that is attracted to one or moreportions of the vacuum distributor 500.

Another non-limiting example may include a suction material, such assuction cup-like components, that forms a removable (e.g., temporary)bond with one or more portions of the vacuum tool in order to maintainthe plate 400 in a desired position relative to the vacuum distributor500. While specific examples are provided, it is contemplated that anytype of material that may provide a temporary coupling between the plate400 and the vacuum distributor 500 may be implemented.

FIG. 20 depicts a cut view of a vacuum tool having a switchable plate400 utilizing a coupling maintaining mechanism comprised of a firstconnecting point 606, a second connecting point 608, and a connectingmember 610, in accordance with exemplary aspects of the presentinvention. As previously discussed, a vacuum distributor 500 having abottom surface 502 may be removably coupled with the plate 400 that hasa top surface 402 and a bottom surface 404 with apertures 160.

The first connecting point 606 and the second connecting point 608 maybe a receiving point functional for receiving a portion of theconnecting member 610. For example, the first connecting point 606 maybe a hole into which a protrusion of the connecting member 610 mayextend. In the alternative, the first connecting point 606 may be aprotrusion-like component that extends outwardly from the vacuum tool tobe inserted into an opening in the connecting member 610. In thisexample, the connecting member 610 may be a link having a first hole anda second hole such that the first connecting point 606 extends throughthe first hole and the second connecting point 608 extends through thesecond hole.

Alternative physical configurations are contemplated. For example, thefirst connecting point may provide a protrusion onto which a first endof the connecting member 610 rests while the opposite end of theconnecting member is permanently coupled with the plate 400. Further, itis contemplated that the connecting member 610 may be formed from anytype of material, such as a material having elastic properties (e.g.,rubber, silicone), a material having rigid properties (e.g., metallic,polymer), and the like.

FIG. 21 depicts a bottom view of an exemplary plate 700 comprised offour plate portions (702, 704, 706, and 708) each having differentaperture configurations, in accordance with aspects of the presentinvention. The first plate portion 702 is formed with a first aperturepattern comprised of a plurality of relatively similar-sized smallerapertures 160 in a uniform pattern. The second plate portion 704 iscomprised of a plurality of similar-sized larger apertures in a uniformpattern. The third plate 706 is comprised of a variety of apertures in anon-uniform pattern. The fourth plate portion 708 is comprised of aplurality of similar-sized small apertures with a uniform, butdispersed, pattern.

Plate portions having different aperture patterns are able to becombined in a variety of manners to achieve zoned material manipulationfunctionality. For example, if a portion of material to be manipulatedhas a low porosity and light weight, the aperture pattern in the fourthplate portion 708 may be used to reduce an amount of vacuum energynecessary to manipulate the material. However, if a delicate andflexible material is in need of being manipulated, the aperture patternin the first plate portion 702 may be utilized to provide a distributedvacuum force with smaller points of vacuum application. Further, if anirregular-shaped material portion is to be manipulated, the aperturepattern of the fourth plate portion 708 may be appropriate.

The aperture pattern of the fourth plate portion 708 is comprised of anon-aperture portion 710. The non-aperture portion 710 may be formedinto a plate where material is absent or where vacuum forces are notintended to be applied. For example, to prevent having apertures not incontact with material to be manipulated, which may reduce a level vacuumforce exerted as a result of uncovered apertures, the non-apertureportion may be formed in the plate at known location where there will bean absence of material.

Further, it is contemplated that apertures of various sizes may beformed into portions of the plate. For example, a first aperture size712 may form a first portion, such as a perimeter region. A secondaperture size 714 may form a second portion, such as an internal area.The size and spacing (and shape) of the apertures may be adjusted basedon a product to be manipulated. As such, it is contemplated the oneplate portion may be switched, utilizing the removable couplingfunctionality, with another plate portion. Therefore, it is contemplatedthat one or more portions of a plate may be maintained while selectivelyswitching one or more other plate portions of the plate.

Exemplary aspects are provided herein for illustrative purposes.Additional extensions/aspects are also contemplated in connection withaspects of the present invention. For example, a number, size,orientation, and/or form of components, portions, and/or attributes arecontemplated within the scope of aspects of the present invention.

What is claimed is:
 1. A pickup tool, comprising: a plurality of pickupforce generators; and a plate comprising a plurality of plate portionsand a part-contacting surface, wherein each one of the plurality ofpickup force generators is associated with a respective one of theplurality of plate portions and is adapted to independently generate apickup force at the respective one of the plurality of plate portions,wherein the plurality of plate portions are independently removable. 2.The pickup tool of claim 1, wherein the pickup tool iselectrically-powered.
 3. The pickup tool of claim 1, wherein theplurality of pickup force generators comprises a plurality of vacuumgenerators and each plate portion of the plurality of plate portionscomprises at least one aperture through which a vacuum force from arespectively associated one of the plurality of vacuum generators can betransferred.
 4. The pickup tool of claim 1, wherein the pickup tool isadapted to generate more than one pickup force at a time.
 5. The pickuptool of claim 1, wherein the part-contacting surface comprises anexterior surface of the plurality of plate portions that is coplanar. 6.The pickup tool of claim 1, wherein the pickup tool is coupled to arobot adapted to move the pickup tool to a plurality of differentpositions.
 7. The pickup tool of claim 1, further comprising a fasteningmechanism, wherein the plate is removably attachable to the pickup toolusing the fastening mechanism.
 8. A pickup tool, comprising: a pluralityof pickup force generators adapted to independently generate respectivepickup forces; and a plate comprising a plurality of plate portions andan exterior part-contacting surface that is coplanar across theplurality of plate portions, wherein each plate portion of the pluralityof plate portions is coupled to a respective one of the plurality ofpickup force generators that is adapted to generate an independentpickup force in the respective plate portion, wherein the plurality ofplate portions are independently removable.
 9. The pickup tool of claim8, wherein the exterior part-contacting surface is non-compressible. 10.The pickup tool of claim 8, wherein the pickup tool iselectrically-powered.
 11. The pickup tool of claim 8, wherein theplurality of pickup force generators comprises a plurality of vacuumgenerators and each plate portion of the plurality of plate portionsincludes at least one aperture through which a vacuum force from therespectively associated one of the plurality of vacuum generators can beapplied.
 12. The pickup tool of claim 8, wherein the pickup tool isadapted to generate more than one pickup force at a time.
 13. A methodof using a pickup tool comprising a plurality of pickup force generatorsand a plate comprising a plurality of plate portions each of which isrespectively associated with one of the plurality of pickup forcegenerators, the method comprising: generating a first pickup force at afirst plate portion of the plurality of plate portions with a firstpickup force generator of the plurality of pickup force generators thatis coupled to the first plate portion; and generating a second pickupforce at a second plate portion of the plurality of plate portions witha second pickup force generator of the plurality of pickup forcegenerators that is coupled to the second plate portion, wherein thepickup tool is adapted to allow the generation of the first pickup forceat the first plate portion independently of the generation of the secondpickup force at the second plate portion, wherein the plurality of plateportions are independently removable.
 14. The method of claim 13,further comprising deactivating at least one of the first pickup forceand the second pickup force.
 15. The method of claim 13, wherein theplate comprises an exterior part-contacting surface that is coplanaracross the plurality of plate portions.
 16. The method of claim 13,wherein the plurality of pickup force generators comprises a pluralityof vacuum generators, and wherein each plate portion of the plurality ofplate portions includes at least one aperture through which a vacuumforce can be applied.
 17. The method of claim 13, wherein the pickuptool is adapted to generate more than one pickup force at a time. 18.The method of claim 13, wherein the pickup tool is coupled to a robotadapted to move the pickup tool to a plurality of different positions.